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septentrio-gnss / septentrio_gnss_driver

ROS 1 & 2 driver for Septentrio GNSS & INS receivers
BSD 3-Clause "New" or "Revised" License
80 stars 38 forks source link

Asterx-SBI 3 pro INS: discrepancy between /navsatfix.status.status and /gpsfix.status.status with NMEA msgs #132

Open federicobenna opened 1 month ago

federicobenna commented 1 month ago

I have mobile robot setup with INS receiver + dual antenna setup and an active subscription with a local RTK provider over internet.

I have been observing a discrepancy between reported status/ gps quality from ros msgs /gpsfix.status.status /navsatfix.status.status and what the Septentrio web ui and the actual NMEA msg logged on the receiver itself.

image

On my tests I see msgs published with status 0 most of the time and jumps to 2 (augmented fix) a couple of times over multiple experiments while the frontend shows Fixed pose and GGA NMEA shows quality indicator 4 (RTK Fixed) and GNS mode indicator RRRN (Real-Time Kinematic. Satellite system used in RTK mode with fixed integers):

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$INGNS | 90200 | 5051.890218 | N | 440.1211738 | E | RRRN | 13 | 0.9
$INGGA | 90200.5 | 5051.890219 | N | 440.1211744 | E | 4 | 15 | 0.8
$INGNS | 90200.5 | 5051.890219 | N | 440.1211744 | E | RRRN | 15 | 0.8
$INGGA | 90201 | 5051.890217 | N | 440.121174 | E | 4 | 14 | 0.8
$INGNS | 90201 | 5051.890217 | N | 440.121174 | E | RRRN | 14 | 0.8
$INGGA | 90201.5 | 5051.890216 | N | 440.121175 | E | 4 | 15 | 0.8
$INGNS | 90201.5 | 5051.890216 | N | 440.121175 | E | RRRN | 15 | 0.8
$INGGA | 90202 | 5051.890216 | N | 440.1211736 | E | 4 | 15 | 0.8
$INGNS | 90202 | 5051.890216 | N | 440.1211736 | E | RRRN | 15 | 0.8
$INGGA | 90202.5 | 5051.890216 | N | 440.1211737 | E | 4 | 15 | 0.8
$INGNS | 90202.5 | 5051.890216 | N | 440.1211737 | E | RRRN | 15 | 0.8
$INGGA | 90203 | 5051.890216 | N | 440.1211733 | E | 4 | 15 | 0.8
$INGNS | 90203 | 5051.890216 | N | 440.1211733 | E | RRRN | 15 | 0.8
$INGGA | 90203.5 | 5051.890215 | N | 440.1211735 | E | 4 | 15 | 0.8
$INGNS | 90203.5 | 5051.890215 | N | 440.1211735 | E | RRRN | 15 | 0.8
$INGGA | 90204 | 5051.890218 | N | 440.1211742 | E | 4 | 15 | 0.8
$INGNS | 90204 | 5051.890218 | N | 440.1211742 | E | RRRN | 15 | 0.8
$INGGA | 90204.5 | 5051.890218 | N | 440.1211734 | E | 4 | 15 | 0.8
$INGNS | 90204.5 | 5051.890218 | N | 440.1211734 | E | RRRN | 15 | 0.8
$INGGA | 90205 | 5051.890218 | N | 440.1211725 | E | 4 | 15 | 0.8
$INGNS | 90205 | 5051.890218 | N | 440.1211725 | E | RRRN | 15 | 0.8
$INGGA | 90205.5 | 5051.890218 | N | 440.1211722 | E | 4 | 15 | 0.8
$INGNS | 90205.5 | 5051.890218 | N | 440.1211722 | E | RRRN | 15 | 0.8
$INGGA | 90206 | 5051.890218 | N | 440.1211727 | E | 4 | 15 | 0.8
$INGNS | 90206 | 5051.890218 | N | 440.1211727 | E | RRRN | 15 | 0.8
$INGGA | 90206.5 | 5051.890217 | N | 440.1211729 | E | 4 | 15 | 0.8
$INGNS | 90206.5 | 5051.890217 | N | 440.1211729 | E | RRRN | 15 | 0.8
$INGGA | 90207 | 5051.890217 | N | 440.1211733 | E | 4 | 15 | 0.8
$INGNS | 90207 | 5051.890217 | N | 440.1211733 | E | RRRN | 15 | 0.8
$INGGA | 90207.5 | 5051.890217 | N | 440.1211732 | E | 4 | 15 | 0.8
$INGNS | 90207.5 | 5051.890217 | N | 440.1211732 | E | RRRN | 15 | 0.8
$INGGA | 90208 | 5051.890217 | N | 440.1211726 | E | 4 | 15 | 0.8
$INGNS | 90208 | 5051.890217 | N | 440.1211726 | E | RRRN | 15 | 0.8
$INGGA | 90208.5 | 5051.890217 | N | 440.1211724 | E | 4 | 15 | 0.8
$INGNS | 90208.5 | 5051.890217 | N | 440.1211724 | E | RRRN | 15 | 0.8
$INGGA | 90209 | 5051.890216 | N | 440.1211721 | E | 4 | 15 | 0.8
$INGNS | 90209 | 5051.890216 | N | 440.1211721 | E | RRRN | 15 | 0.8
$INGGA | 90213.5 | 5051.890218 | N | 440.1211728 | E | 4 | 15 | 0.8
$INGNS | 90213.5 | 5051.890218 | N | 440.1211728 | E | RRRN | 15 | 0.8
$INGGA | 90214 | 5051.890218 | N | 440.1211725 | E | 4 | 15 | 0.8
$INGNS | 90214 | 5051.890218 | N | 440.1211725 | E | RRRN | 15 | 0.8
$INGGA | 90214.5 | 5051.890217 | N | 440.1211722 | E | 4 | 15 | 0.8
$INGNS | 90214.5 | 5051.890217 | N | 440.1211722 | E | RRRN | 15 | 0.8
$INGGA | 90215 | 5051.890218 | N | 440.1211725 | E | 4 | 15 | 0.8
$INGNS | 90215 | 5051.890218 | N | 440.1211725 | E | RRRN | 15 | 0.8
$INGGA | 90215.5 | 5051.890218 | N | 440.1211719 | E | 4 | 15 | 0.8
$INGNS | 90215.5 | 5051.890218 | N | 440.1211719 | E | RRRN | 15 | 0.8
$INGGA | 90216 | 5051.890218 | N | 440.1211711 | E | 4 | 13 | 0.8
$INGNS | 90216 | 5051.890218 | N | 440.1211711 | E | RRRN | 13 | 0.8
$INGGA | 90216.5 | 5051.890218 | N | 440.1211716 | E | 4 | 15 | 0.8
$INGNS | 90216.5 | 5051.890218 | N | 440.1211716 | E | RRRN | 15 | 0.8
$INGGA | 90217 | 5051.890218 | N | 440.121173 | E | 4 | 15 | 0.8
$INGNS | 90217 | 5051.890218 | N | 440.121173 | E | RRRN | 15 | 0.8
$INGGA | 90217.5 | 5051.890218 | N | 440.1211718 | E | 4 | 14 | 0.8
$INGNS | 90217.5 | 5051.890218 | N | 440.1211718 | E | RRRN | 14 | 0.8
$INGGA | 90218 | 5051.89022 | N | 440.1211741 | E | 4 | 15 | 0.8
$INGNS | 90218 | 5051.89022 | N | 440.1211741 | E | RRRN | 15 | 0.8
$INGGA | 90218.5 | 5051.890219 | N | 440.1211735 | E | 4 | 15 | 0.8
$INGNS | 90218.5 | 5051.890219 | N | 440.1211735 | E | RRRN | 15 | 0.8
$INGGA | 90219 | 5051.890219 | N | 440.1211766 | E | 4 | 15 | 0.8
$INGNS | 90219 | 5051.890219 | N | 440.1211766 | E | RRRN | 15 | 0.8
$INGGA | 90219.5 | 5051.890218 | N | 440.121179 | E | 4 | 15 | 0.8
$INGNS | 90219.5 | 5051.890218 | N | 440.121179 | E | RRRN | 15 | 0.8
$INGGA | 90220 | 5051.890216 | N | 440.1211844 | E | 4 | 15 | 0.8
$INGNS | 90220 | 5051.890216 | N | 440.1211844 | E | RRRN | 15 | 0.8
$INGGA | 90220.5 | 5051.890215 | N | 440.1211839 | E | 4 | 15 | 0.8
$INGNS | 90220.5 | 5051.890215 | N | 440.1211839 | E | RRRN | 15 | 0.8
$INGGA | 90221 | 5051.890215 | N | 440.121183 | E | 4 | 15 | 0.8
$INGNS | 90221 | 5051.890215 | N | 440.121183 | E | RRRN | 15 | 0.8
$INGGA | 90221.5 | 5051.890215 | N | 440.1211825 | E | 4 | 15 | 0.8
$INGNS | 90221.5 | 5051.890215 | N | 440.1211825 | E | RRRN | 15 | 0.8
$INGGA | 90222 | 5051.890214 | N | 440.1211828 | E | 4 | 15 | 0.8
$INGNS | 90222 | 5051.890214 | N | 440.1211828 | E | RRRN | 15 | 0.8
$INGGA | 90222.5 | 5051.890216 | N | 440.1211797 | E | 4 | 14 | 0.8
$INGNS | 90222.5 | 5051.890216 | N | 440.1211797 | E | RRRN | 14 | 0.8
$INGGA | 90223 | 5051.890214 | N | 440.1211814 | E | 4 | 8 | 1.4
$INGNS | 90223 | 5051.890214 | N | 440.1211814 | E | RRNN | 8 | 1.4
$INGGA | 90223.5 | 5051.890217 | N | 440.1211799 | E | 4 | 14 | 0.8
$INGNS | 90223.5 | 5051.890217 | N | 440.1211799 | E | RRRN | 14 | 0.8
$INGGA | 90224 | 5051.890218 | N | 440.1211797 | E | 4 | 15 | 0.8
$INGNS | 90224 | 5051.890218 | N | 440.1211797 | E | RRRN | 15 | 0.8
$INGGA | 90224.5 | 5051.890218 | N | 440.1211804 | E | 4 | 15 | 0.8
$INGNS | 90224.5 | 5051.890218 | N | 440.1211804 | E | RRRN | 15 | 0.8
$INGGA | 90225 | 5051.890219 | N | 440.1211801 | E | 4 | 15 | 0.8
$INGNS | 90225 | 5051.890219 | N | 440.1211801 | E | RRRN | 15 | 0.8
$INGGA | 90225.5 | 5051.890219 | N | 440.12118 | E | 4 | 14 | 0.8
$INGNS | 90225.5 | 5051.890219 | N | 440.12118 | E | RRRN | 14 | 0.8
$INGGA | 90226 | 5051.890218 | N | 440.1211788 | E | 4 | 15 | 0.8
$INGNS | 90226 | 5051.890218 | N | 440.1211788 | E | RRRN | 15 | 0.8
$INGGA | 90226.5 | 5051.890217 | N | 440.1211771 | E | 4 | 15 | 0.8
$INGNS | 90226.5 | 5051.890217 | N | 440.1211771 | E | RRRN | 15 | 0.8
$INGGA | 90227 | 5051.890216 | N | 440.1211757 | E | 4 | 15 | 0.8
$INGNS | 90227 | 5051.890216 | N | 440.1211757 | E | RRRN | 15 | 0.8
$INGGA | 90227.5 | 5051.890215 | N | 440.1211738 | E | 4 | 15 | 0.8
$INGNS | 90227.5 | 5051.890215 | N | 440.1211738 | E | RRRN | 15 | 0.8
$INGGA | 90228 | 5051.890218 | N | 440.1211727 | E | 4 | 15 | 0.8
$INGNS | 90228 | 5051.890218 | N | 440.1211727 | E | RRRN | 15 | 0.8
$INGGA | 90228.5 | 5051.890218 | N | 440.1211732 | E | 4 | 15 | 0.8
$INGNS | 90228.5 | 5051.890218 | N | 440.1211732 | E | RRRN | 15 | 0.8
$INGGA | 90229 | 5051.890219 | N | 440.121173 | E | 4 | 15 | 0.8
$INGNS | 90229 | 5051.890219 | N | 440.121173 | E | RRRN | 15 | 0.8
$INGGA | 90229.5 | 5051.890219 | N | 440.1211772 | E | 4 | 15 | 0.8
$INGNS | 90229.5 | 5051.890219 | N | 440.1211772 | E | RRRN | 15 | 0.8
$INGGA | 90230 | 5051.890218 | N | 440.1211756 | E | 4 | 12 | 1.2
$INGNS | 90230 | 5051.890218 | N | 440.1211756 | E | RRRN | 12 | 1.2
$INGGA | 90230.5 | 5051.890218 | N | 440.1211756 | E | 4 | 15 | 0.8
$INGNS | 90230.5 | 5051.890218 | N | 440.1211756 | E | RRRN | 15 | 0.8
$INGGA | 90231 | 5051.890219 | N | 440.1211788 | E | 4 | 15 | 0.8
$INGNS | 90231 | 5051.890219 | N | 440.1211788 | E | RRRN | 15 | 0.8
$INGGA | 90231.5 | 5051.890216 | N | 440.1211822 | E | 4 | 15 | 0.8
$INGNS | 90231.5 | 5051.890216 | N | 440.1211822 | E | RRRN | 15 | 0.8
$INGGA | 90232 | 5051.890216 | N | 440.1211846 | E | 4 | 15 | 0.8
$INGNS | 90232 | 5051.890216 | N | 440.1211846 | E | RRRN | 15 | 0.8
$INGGA | 90232.5 | 5051.890214 | N | 440.1211822 | E | 4 | 16 | 0.7
$INGNS | 90232.5 | 5051.890214 | N | 440.1211822 | E | RRRN | 16 | 0.7
$INGGA | 90233 | 5051.890217 | N | 440.1211788 | E | 4 | 15 | 0.8
$INGNS | 90233 | 5051.890217 | N | 440.1211788 | E | RRRN | 15 | 0.8
$INGGA | 90233.5 | 5051.890216 | N | 440.1211775 | E | 4 | 16 | 0.7
$INGNS | 90233.5 | 5051.890216 | N | 440.1211775 | E | RRRN | 16 | 0.7
$INGGA | 90234 | 5051.890214 | N | 440.1211795 | E | 4 | 16 | 0.7
$INGNS | 90234 | 5051.890214 | N | 440.1211795 | E | RRRN | 16 | 0.7
$INGGA | 90234.5 | 5051.890217 | N | 440.1211786 | E | 4 | 16 | 0.7
$INGNS | 90234.5 | 5051.890217 | N | 440.1211786 | E | RRRN | 16 | 0.7
$INGGA | 90235 | 5051.890216 | N | 440.1211739 | E | 4 | 16 | 0.7
$INGNS | 90235 | 5051.890216 | N | 440.1211739 | E | RRRN | 16 | 0.7
$INGGA | 90235.5 | 5051.890214 | N | 440.1211735 | E | 4 | 16 | 0.7
$INGNS | 90235.5 | 5051.890214 | N | 440.1211735 | E | RRRN | 16 | 0.7
$INGGA | 90236 | 5051.890215 | N | 440.1211722 | E | 4 | 16 | 0.7
$INGNS | 90236 | 5051.890215 | N | 440.1211722 | E | RRRN | 16 | 0.7
$INGGA | 90236.5 | 5051.890216 | N | 440.1211732 | E | 4 | 16 | 0.7
$INGNS | 90236.5 | 5051.890216 | N | 440.1211732 | E | RRRN | 16 | 0.7
$INGGA | 90237 | 5051.890215 | N | 440.1211735 | E | 4 | 9 | 1.3
$INGNS | 90237 | 5051.890215 | N | 440.1211735 | E | RRNN | 9 | 1.3
$INGGA | 90237.5 | 5051.890213 | N | 440.1211757 | E | 4 | 14 | 0.8
$INGNS | 90237.5 | 5051.890213 | N | 440.1211757 | E | RRRN | 14 | 0.8
$INGGA | 90238 | 5051.890202 | N | 440.1211796 | E | 4 | 14 | 0.8
$INGNS | 90238 | 5051.890202 | N | 440.1211796 | E | RRRN | 14 | 0.8
$INGGA | 90238.5 | 5051.890164 | N | 440.1211934 | E | 4 | 14 | 0.8
$INGNS | 90238.5 | 5051.890164 | N | 440.1211934 | E | RRRN | 14 | 0.8
$INGGA | 90239 | 5051.890106 | N | 440.1212414 | E | 4 | 14 | 0.8
$INGNS | 90239 | 5051.890106 | N | 440.1212414 | E | RRRN | 14 | 0.8
$INGGA | 90239.5 | 5051.890023 | N | 440.1212915 | E | 4 | 13 | 0.9
$INGNS | 90239.5 | 5051.890023 | N | 440.1212915 | E | RRRN | 13 | 0.9
$INGGA | 90240 | 5051.889932 | N | 440.1213363 | E | 4 | 14 | 0.8
$INGNS | 90240 | 5051.889932 | N | 440.1213363 | E | RRRN | 14 | 0.8
$INGGA | 90240.5 | 5051.889838 | N | 440.1213982 | E | 4 | 14 | 0.8
$INGNS | 90240.5 | 5051.889838 | N | 440.1213982 | E | RRRN | 14 | 0.8
$INGGA | 90241 | 5051.889738 | N | 440.1214666 | E | 4 | 14 | 0.8
$INGNS | 90241 | 5051.889738 | N | 440.1214666 | E | RRRN | 14 | 0.8
$INGGA | 90241.5 | 5051.889626 | N | 440.1215295 | E | 4 | 14 | 0.8
$INGNS | 90241.5 | 5051.889626 | N | 440.1215295 | E | RRRN | 14 | 0.8
$INGGA | 90242 | 5051.889502 | N | 440.1215845 | E | 4 | 14 | 0.8
$INGNS | 90242 | 5051.889502 | N | 440.1215845 | E | RRRN | 14 | 0.8
$INGGA | 90242.5 | 5051.889382 | N | 440.121677 | E | 4 | 14 | 0.8
$INGNS | 90242.5 | 5051.889382 | N | 440.121677 | E | RRRN | 14 | 0.8
$INGGA | 90243 | 5051.889261 | N | 440.1217537 | E | 4 | 13 | 0.9
$INGNS | 90243 | 5051.889261 | N | 440.1217537 | E | RRRN | 13 | 0.9
$INGGA | 90243.5 | 5051.88915 | N | 440.1217964 | E | 4 | 14 | 0.8
$INGNS | 90243.5 | 5051.88915 | N | 440.1217964 | E | RRRN | 14 | 0.8
$INGGA | 90244 | 5051.889041 | N | 440.121846 | E | 4 | 13 | 0.9
$INGNS | 90244 | 5051.889041 | N | 440.121846 | E | RRRN | 13 | 0.9
$INGGA | 90244.5 | 5051.888933 | N | 440.1218869 | E | 4 | 15 | 0.8
$INGNS | 90244.5 | 5051.888933 | N | 440.1218869 | E | RRRN | 15 | 0.8
$INGGA | 90245 | 5051.888815 | N | 440.1219342 | E | 4 | 15 | 0.8
$INGNS | 90245 | 5051.888815 | N | 440.1219342 | E | RRRN | 15 | 0.8
$INGGA | 90245.5 | 5051.888701 | N | 440.1220068 | E | 4 | 15 | 0.8
$INGNS | 90245.5 | 5051.888701 | N | 440.1220068 | E | RRRN | 15 | 0.8
$INGGA | 90246 | 5051.888582 | N | 440.1220597 | E | 4 | 15 | 0.8
$INGNS | 90246 | 5051.888582 | N | 440.1220597 | E | RRRN | 15 | 0.8
$INGGA | 90246.5 | 5051.88847 | N | 440.1221329 | E | 4 | 15 | 0.8
$INGNS | 90246.5 | 5051.88847 | N | 440.1221329 | E | RRRN | 15 | 0.8
$INGGA | 90247 | 5051.88835 | N | 440.1221936 | E | 4 | 15 | 0.8
$INGNS | 90247 | 5051.88835 | N | 440.1221936 | E | RRRN | 15 | 0.8
$INGGA | 90247.5 | 5051.888231 | N | 440.1222446 | E | 4 | 14 | 0.9
$INGNS | 90247.5 | 5051.888231 | N | 440.1222446 | E | RRRN | 14 | 0.9
$INGGA | 90248 | 5051.888118 | N | 440.1223207 | E | 4 | 14 | 0.9
$INGNS | 90248 | 5051.888118 | N | 440.1223207 | E | RRRN | 14 | 0.9
$INGGA | 90248.5 | 5051.887989 | N | 440.12238 | E | 4 | 14 | 0.9
$INGNS | 90248.5 | 5051.887989 | N | 440.12238 | E | RRRN | 14 | 0.9
$INGGA | 90249 | 5051.887858 | N | 440.122443 | E | 4 | 14 | 0.9
$INGNS | 90249 | 5051.887858 | N | 440.122443 | E | RRRN | 14 | 0.9
$INGGA | 90249.5 | 5051.887732 | N | 440.1225145 | E | 4 | 14 | 0.9
$INGNS | 90249.5 | 5051.887732 | N | 440.1225145 | E | RRRN | 14 | 0.9
$INGGA | 90250 | 5051.887602 | N | 440.1225785 | E | 4 | 14 | 0.9
$INGNS | 90250 | 5051.887602 | N | 440.1225785 | E | RRRN | 14 | 0.9
$INGGA | 90250.5 | 5051.887474 | N | 440.1226541 | E | 4 | 14 | 0.9
$INGNS | 90250.5 | 5051.887474 | N | 440.1226541 | E | RRRN | 14 | 0.9
$INGGA | 90251 | 5051.887353 | N | 440.1227167 | E | 4 | 14 | 0.9
$INGNS | 90251 | 5051.887353 | N | 440.1227167 | E | RRRN | 14 | 0.9
$INGGA | 90251.5 | 5051.887221 | N | 440.1227736 | E | 4 | 14 | 0.9
$INGNS | 90251.5 | 5051.887221 | N | 440.1227736 | E | RRRN | 14 | 0.9
$INGGA | 90252 | 5051.887095 | N | 440.1228544 | E | 4 | 13 | 0.9
$INGNS | 90252 | 5051.887095 | N | 440.1228544 | E | RRRN | 13 | 0.9
$INGGA | 90252.5 | 5051.886964 | N | 440.1229222 | E | 4 | 14 | 0.9
$INGNS | 90252.5 | 5051.886964 | N | 440.1229222 | E | RRRN | 14 | 0.9
$INGGA | 90253 | 5051.886847 | N | 440.1229803 | E | 4 | 14 | 0.9
$INGNS | 90253 | 5051.886847 | N | 440.1229803 | E | RRRN | 14 | 0.9
$INGGA | 90253.5 | 5051.886728 | N | 440.1230611 | E | 4 | 14 | 0.9
$INGNS | 90253.5 | 5051.886728 | N | 440.1230611 | E | RRRN | 14 | 0.9
$INGGA | 90254 | 5051.88661 | N | 440.123115 | E | 4 | 14 | 0.9
$INGNS | 90254 | 5051.88661 | N | 440.123115 | E | RRRN | 14 | 0.9
$INGGA | 90254.5 | 5051.886503 | N | 440.1231603 | E | 4 | 14 | 0.9
$INGNS | 90254.5 | 5051.886503 | N | 440.1231603 | E | RRRN | 14 | 0.9
$INGGA | 90255 | 5051.886398 | N | 440.1232161 | E | 4 | 14 | 0.9
$INGNS | 90255 | 5051.886398 | N | 440.1232161 | E | RRRN | 14 | 0.9
$INGGA | 90255.5 | 5051.886279 | N | 440.1232847 | E | 4 | 14 | 0.9
$INGNS | 90255.5 | 5051.886279 | N | 440.1232847 | E | RRRN | 14 | 0.9
$INGGA | 90256 | 5051.886166 | N | 440.1233499 | E | 4 | 14 | 0.9
$INGNS | 90256 | 5051.886166 | N | 440.1233499 | E | RRRN | 14 | 0.9
$INGGA | 90256.5 | 5051.886053 | N | 440.1234002 | E | 4 | 14 | 0.9
$INGNS | 90256.5 | 5051.886053 | N | 440.1234002 | E | RRRN | 14 | 0.9
$INGGA | 90257 | 5051.885955 | N | 440.1234582 | E | 4 | 13 | 1
$INGNS | 90257 | 5051.885955 | N | 440.1234582 | E | RRRN | 13 | 1
$INGGA | 90257.5 | 5051.885933 | N | 440.1234716 | E | 4 | 13 | 1
$INGNS | 90257.5 | 5051.885933 | N | 440.1234716 | E | RRRN | 13 | 1
$INGGA | 90258 | 5051.886011 | N | 440.1234337 | E | 4 | 13 | 1
$INGNS | 90258 | 5051.886011 | N | 440.1234337 | E | RRRN | 13 | 1
$INGGA | 90258.5 | 5051.886075 | N | 440.1233718 | E | 4 | 13 | 1
$INGNS | 90258.5 | 5051.886075 | N | 440.1233718 | E | RRRN | 13 | 1
$INGGA | 90259 | 5051.886112 | N | 440.1233372 | E | 4 | 11 | 1.3
$INGNS | 90259 | 5051.886112 | N | 440.1233372 | E | RRRN | 11 | 1.3
$INGGA | 90259.5 | 5051.886124 | N | 440.1233351 | E | 4 | 13 | 1
$INGNS | 90259.5 | 5051.886124 | N | 440.1233351 | E | RRRN | 13 | 1
$INGGA | 90300 | 5051.886134 | N | 440.123342 | E | 4 | 13 | 1
$INGNS | 90300 | 5051.886134 | N | 440.123342 | E | RRRN | 13 | 1
$INGGA | 90300.5 | 5051.886132 | N | 440.1233377 | E | 4 | 12 | 1
$INGNS | 90300.5 | 5051.886132 | N | 440.1233377 | E | RRRN | 12 | 1
$INGGA | 90301 | 5051.88613 | N | 440.123335 | E | 4 | 13 | 1
$INGNS | 90301 | 5051.88613 | N | 440.123335 | E | RRRN | 13 | 1
$INGGA | 90301.5 | 5051.886131 | N | 440.1233357 | E | 4 | 13 | 1
$INGNS | 90301.5 | 5051.886131 | N | 440.1233357 | E | RRRN | 13 | 1
$INGGA | 90302 | 5051.886129 | N | 440.1233375 | E | 4 | 13 | 1
$INGNS | 90302 | 5051.886129 | N | 440.1233375 | E | RRRN | 13 | 1
$INGGA | 90302.5 | 5051.886123 | N | 440.1233398 | E | 4 | 13 | 1
$INGNS | 90302.5 | 5051.886123 | N | 440.1233398 | E | RRRN | 13 | 1
$INGGA | 90303 | 5051.886122 | N | 440.1233132 | E | 4 | 13 | 1
$INGNS | 90303 | 5051.886122 | N | 440.1233132 | E | RRRN | 13 | 1
$INGGA | 90303.5 | 5051.886119 | N | 440.1232875 | E | 4 | 13 | 1
$INGNS | 90303.5 | 5051.886119 | N | 440.1232875 | E | RRRN | 13 | 1
$INGGA | 90304 | 5051.886122 | N | 440.1232573 | E | 4 | 14 | 0.9
$INGNS | 90304 | 5051.886122 | N | 440.1232573 | E | RRRN | 14 | 0.9
$INGGA | 90304.5 | 5051.886118 | N | 440.1232131 | E | 4 | 14 | 0.9
$INGNS | 90304.5 | 5051.886118 | N | 440.1232131 | E | RRRN | 14 | 0.9
$INGGA | 90305 | 5051.886121 | N | 440.1232448 | E | 4 | 13 | 1
$INGNS | 90305 | 5051.886121 | N | 440.1232448 | E | RRRN | 13 | 1
$INGGA | 90305.5 | 5051.886131 | N | 440.1232859 | E | 4 | 13 | 1
$INGNS | 90305.5 | 5051.886131 | N | 440.1232859 | E | RRRN | 13 | 1
$INGGA | 90306 | 5051.886118 | N | 440.1232314 | E | 4 | 14 | 0.9
$INGNS | 90306 | 5051.886118 | N | 440.1232314 | E | RRRN | 14 | 0.9
$INGGA | 90306.5 | 5051.886092 | N | 440.1231546 | E | 4 | 14 | 0.9
$INGNS | 90306.5 | 5051.886092 | N | 440.1231546 | E | RRRN | 14 | 0.9
$INGGA | 90307 | 5051.886037 | N | 440.1230673 | E | 4 | 13 | 1
$INGNS | 90307 | 5051.886037 | N | 440.1230673 | E | RRRN | 13 | 1
$INGGA | 90307.5 | 5051.885975 | N | 440.1230052 | E | 4 | 13 | 0.9
$INGNS | 90307.5 | 5051.885975 | N | 440.1230052 | E | RRRN | 13 | 0.9
$INGGA | 90308 | 5051.885918 | N | 440.1229774 | E | 4 | 12 | 1
$INGNS | 90308 | 5051.885918 | N | 440.1229774 | E | RRRN | 12 | 1
$INGGA | 90308.5 | 5051.885875 | N | 440.1229424 | E | 4 | 11 | 1.3
$INGNS | 90308.5 | 5051.885875 | N | 440.1229424 | E | RRRN | 11 | 1.3
$INGGA | 90309 | 5051.885855 | N | 440.1229571 | E | 4 | 12 | 1.2
$INGNS | 90309 | 5051.885855 | N | 440.1229571 | E | RRRN | 12 | 1.2
$INGGA | 90309.5 | 5051.885858 | N | 440.1229703 | E | 4 | 11 | 1.3
$INGNS | 90309.5 | 5051.885858 | N | 440.1229703 | E | RRRN | 11 | 1.3
$INGGA | 90310 | 5051.88589 | N | 440.1229732 | E | 4 | 12 | 0.9
$INGNS | 90310 | 5051.88589 | N | 440.1229732 | E | RRRN | 12 | 0.9
$INGGA | 90310.5 | 5051.885941 | N | 440.1229688 | E | 4 | 13 | 0.8
$INGNS | 90310.5 | 5051.885941 | N | 440.1229688 | E | RRRN | 13 | 0.8
$INGGA | 90311 | 5051.885957 | N | 440.123002 | E | 4 | 14 | 0.8
$INGNS | 90311 | 5051.885957 | N | 440.123002 | E | RRRN | 14 | 0.8
$INGGA | 90311.5 | 5051.885973 | N | 440.1230645 | E | 4 | 13 | 0.9
$INGNS | 90311.5 | 5051.885973 | N | 440.1230645 | E | RRRN | 13 | 0.9
$INGGA | 90312 | 5051.885949 | N | 440.1230796 | E | 4 | 13 | 0.9
$INGNS | 90312 | 5051.885949 | N | 440.1230796 | E | RRRN | 13 | 0.9
$INGGA | 90312.5 | 5051.885916 | N | 440.1231382 | E | 4 | 12 | 0.9
$INGNS | 90312.5 | 5051.885916 | N | 440.1231382 | E | RRRN | 12 | 0.9
$INGGA | 90313 | 5051.885925 | N | 440.1232371 | E | 4 | 11 | 1.3
$INGNS | 90313 | 5051.885925 | N | 440.1232371 | E | RRRN | 11 | 1.3
$INGGA | 90313.5 | 5051.885968 | N | 440.1233678 | E | 4 | 13 | 1
$INGNS | 90313.5 | 5051.885968 | N | 440.1233678 | E | RRRN | 13 | 1
$INGGA | 90314 | 5051.886013 | N | 440.1235141 | E | 4 | 13 | 0.9

I gave a quick look at how the messages are generated on the rosdriver and noticed for GNSS receiver the status bit is masked while this is not applied for INS receivers. How should I interpret the data on the nav rostopics?

thomasemter commented 1 month ago

Hi @federicobenna,

the status generation indeed made no sense at all. Thank you for reporting this.

You may find a fix here. This fix will be added to the upcoming release.

federicobenna commented 1 month ago

Hi again @thomasemter, Thank you for your quick reply.

The status reported is still quite incosistent across messages. I tested again using the suggested patch and got no fix on /gpsfix status, "normal" fix on /navsatfix and proper RTK fix in GGA msg. Receiver reported RTK fix the whole time instead ... image

I suspect the issue is in the way the last_insnavgeod_ or so for other types is parsed or updated?

thomasemter commented 1 month ago

Sorry, the mask was missing for the status of the /gpsfix. It should be correct now.